The invention relates to a system to transfer fluid via at least one pipeline from one structure to another structure (such as a platform P and a vessel v respectively), in which one of the structures has an offloading arm 5 which is movable in to planes perpendicular to each other and in which a part of the offloading arm remote from the one structure is engagable with the other structure, so to allow linear and rotational movements between the structures. The pipeline along the offloading arm is configured to compensate for movements between the two structures in the longitudinal direction of the offloading arm.
